Vehicular vision system

ABSTRACT

A vehicular vision system includes an electronic control unit (ECU) and at least one exterior viewing camera. The camera connects with the ECU via a coaxial cable. Image data captured by the camera is converted at a serializer to serialized image data that is carried to the ECU via the coaxial cable. The serialized image data carried to the ECU by the coaxial cable is de-serialized at the de-serializer of the ECU to form de-serialized image data. Responsive at least in part to processing at the ECU of de-serialized image data, the vehicular vision system is operable to detect an object viewed by the camera. Responsive at least in part to determination by the vehicular vision system that the equipped vehicle and the detected object may collide, the vehicular vision system, at least in part, controls a braking system of the equipped vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 17/248,946, filed Feb. 15, 2021, now U.S. Pat. No. 11,308,718,which is a continuation of U.S. patent application Ser. No. 16/724,484,filed Dec. 23, 2019, now U.S. Pat. No. 10,922,563, which is acontinuation of U.S. patent application Ser. No. 16/117,172, filed Aug.30, 2018, now U.S. Pat. No. 10,515,279, which is a continuation of U.S.patent application Ser. No. 13/894,870, filed May 15, 2013, now U.S.Pat. No. 10,089,537, which claims the filing benefit of U.S. provisionalapplications, Ser. No. 61/699,498, filed Sep. 11, 2012, Ser. No.61/682,486, filed Aug. 13, 2012, and Ser. No. 61/648,744, filed May 18,2012, which are hereby incorporated herein by reference in theirentireties.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes two or more cameras to capture images exterior ofthe vehicle (such as forwardly and rearwardly of the vehicle), andprovides the communication/data signals, including camera data or imagedata, that may be displayed at a display screen that is viewable by thedriver of the vehicle, such as when the driver is backing up thevehicle, and that may be processed and, responsive to such imageprocessing, the system may detect an object at or near the vehicle andin the path of travel of the vehicle, such as when the vehicle isbacking up. The vision system may be operable to display a surround viewor bird's eye view of the environment at or around or at least partiallysurrounding the subject or equipped vehicle.

According to an aspect of the present invention, a vision system for avehicle includes multiple cameras or image sensors disposed at a vehicleand having respective fields of view exterior of the vehicle, and animage processor operable to process data transmitted by the cameras. Thevision system includes a forward facing camera module (having imageprocessing circuitry incorporated therein) and a rearward facing visioncamera (for capturing video image data that is displayed on a display ofthe vehicle for viewing by the driver of the vehicle during a reversingmaneuver). The video output of the rearward facing vision camera is fedto the forward facing camera module and to the display, so the videoimages can be viewed by the driver of the vehicle and can be processedby an image processor of the forward facing camera module. The videoimage data captured by the rearward facing camera may be fed to anamplifier of the forward facing camera module and an output of theamplifier is fed to a decoder of the forward facing camera module and anoutput of the decoder is fed to the image processor of the forwardfacing camera module. The vision system may provide a variety offunctions by utilizing captured image data from one or more of thecameras at the vehicle, such as a forward facing camera, a rearwardfacing camera, side view cameras and/or a forward facing windshieldmounted camera (having a field of view through the windshield of thevehicle).

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system and imagingsensors or cameras that provide exterior fields of view in accordancewith the present invention;

FIG. 2 is a schematic of a vision system of the present invention;

FIG. 3 is a schematic of another vision system of the present invention;

FIG. 4 is a schematic of another vision system of the present invention;

FIG. 5 is a plan view of a vehicle with a vision system and cameras ofthe present invention;

FIG. 6 is a schematic of a vehicle with a vision system and automaticbraking control of the present invention;

FIG. 7 is a schematic of another vehicle vision system of the presentinvention;

FIG. 8 is a plan view and schematic of a vehicle with a vision systemthat provides various features in accordance with the present invention;

FIG. 9 is a perspective view of a bicyclist detected by the visionsystem of the present invention;

FIG. 10 is a plan view of a vehicle with a vision system that detectsobjects approaching from the rear to limit the vehicle occupant fromopening the vehicle door into the path of the object;

FIG. 11 is an image showing a rear pedestrian detection function of thevision system of the present invention;

FIG. 12 is an image showing a rear object detection function of thevision system of the present invention;

FIG. 13 is an image showing a side cross traffic detection function ofthe vision system of the present invention;

FIGS. 14 and 15 show aspects of an adaptive emergency braking system ofthe vision system of the present invention;

FIG. 16 is an image showing a rear lane marker detection function of thevision system of the present invention;

FIGS. 17 and 18 are images showing different views based on imagescaptured by a rear camera of the vision system of the present invention;and

FIG. 19 is a schematic of another vehicle vision system of the presentinvention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes aprocessor that is operable to receive image data from the vehiclecameras and may provide a displayed image that is representative of thesubject vehicle (such as for a top down or bird's eye or surround view,such as discussed below). The vision and display system may utilizeaspects of the systems described in U.S. Pat. No. 7,855,755 and U.S.patent application Ser. No. 12/405,558, filed Mar. 17, 2009, now U.S.Pat. No. 9,019,090, which are hereby incorporated herein by reference intheir entireties.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 b at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1). The vision system 12 includes a control or processor 18that is operable to process image data captured by the cameras and mayprovide displayed images at a display device 16 for viewing by thedriver of the vehicle (although shown in FIG. 1 as being part of orincorporated in or at an interior rearview mirror assembly 20 of thevehicle, the control and/or the display device may be disposed elsewhereat or in the vehicle).

The present invention provides a vehicle vision system that integratesthe front and rear cameras. For example, a video line or feed from arearward facing camera may be fed to a front camera module or FCM (thatincludes a forward facing imager and associated circuitry). Optionally,and as shown in FIG. 2, a rear camera may have a video and ground lineconnected to or in communication with a decoder (such as an NTSCdecoder) of a front camera module. The front camera module includes thedecoder and an encoder (such as an NTSC encoder) and an image processor.For example, the image processor may comprise an EYEQ2 image processingchip available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect objects. The power or Vcc line and theGround line of the rear camera may connect to a display element ormodule of the vehicle, and the display is in communication with theencoder of the front camera module, as shown in FIG. 2. Thus, the rearcamera video feeds into the front camera module decoder and the decoderfeeds decoded video to the image processor or EYEQ2 processor, which mayprocess the image data to detect objects or the like, and the decoderand/or processor may feed an output to the encoder, which feeds theencoded signal to the display for displaying video images derived fromimage data captured by at least the rearward facing camera (andoptionally video images derived from image data captured by the forwardfacing camera and/or one or more sideward facing cameras of the vehicle,such as for a surround view vision system or the like).

Optionally, and as shown in FIG. 3, a rear camera may be incommunication with an amplifier of a front camera module, which feedsvideo to the FCM decoder, which feeds the video to the image processor.The rear video thus feeds video to the FCM, and an internal splice inthe FCM provides a video line to the display, while the amplifierisolates the video from the FCM and feeds video to the decoder, whichfeeds the video into the image processor. Such a configuration providesthe camera integration without a change to the rear camera or to thedisplay, and without need for an encoder (thus reducing the cost of thesystem).

Optionally, and with reference to FIG. 4, a rear camera video output maybe fed to a video splitter, which feeds the video to both the forwardcamera module and the display. Such a configuration provides the cameraintegration with no change to the rear camera or to the display, andwith fewer pins or terminals at the FCM and less or reduced spacerequirements in the FCM.

Optionally, a second video output may be added to the rear camera, whichmay provide a vision system with no change to the display, and withfewer pins or terminals at the FCM and less or reduced spacerequirements in the FCM. Optionally, a video splitter/pass-through maybe added to the display, which may provide a vision system with nochange to the rear camera, and with fewer pins or terminals at the FCMand less or reduced space requirements in the FCM.

Optionally, the vision system of the present invention may combine imageand machine vision, such as when computing power is available for imageprocessing of the captured images. The combination of image visioncameras (that capture images for displaying images to be viewed by thedriver of the vehicle) and machine vision processing (that processesimage data to provide various features) allows for additional features.Optionally, and with reference to FIGS. 5-8, the vision system may beassociated with an emergency braking system of the vehicle and mayprovide different braking responses or functions depending on theenvironment in which the vehicle is driven. For example, differentbraking control may be provided between city speed driving, urban speeddriving and when a pedestrian is detected. As shown in FIG. 8, thevision system may provide various features and different types ofbraking (responsive to different image processing) depending on thedriving environment and whether a vehicle or pedestrian is detected bythe vision system.

Optionally, and such as discussed above, the vision system of thepresent invention may have a rearward facing camera (such as an imagingcamera for capturing video images for displaying at a display) videooutput fed as a video input to a machine vision forward camera (withimage processing capabilities). Optionally, the machine vision processormay be part of the front camera or may be located at a central ECU of asurround view system (such as shown in FIG. 7). As shown in FIG. 7, thesurround view system includes four cameras having forward, rearward andsideward fields of view, and one windshield mounted camera (having aforward field of view through the windshield of the vehicle), with acentral ECU having five camera inputs and one display output.

Such a system may provide various features. For example, the system maybe operable (utilizing image data captured by the windshield mountedcamera and the exterior forward (such as grille mounted) camera) todetect bicyclists traveling along a side region of the road on which thesubject vehicle is traveling (such as along a designated bike lane orthe like along a side portion of the road surface). The forward cameraprovides a wider field of view (such as can be seen in FIG. 8) to detectcrossing bicycles that are relevant for impact while the vehicle isdriven at low speeds. For example, and with reference to FIG. 9, whenthe vehicle speed is around 10 m/s or thereabouts, the system may beoperable to detect the bicycle traveling about 10 m/s at about a 45degree angle forward and to the side of the vehicle.

Optionally, the vision system may provide a door opening protectionfeature or function, such as by detecting (via processing image datacaptured by the sideview camera at each side of the vehicle) an objector vehicle or bicycle approaching from the rear of the subject vehicle(and when the subject vehicle is parked or not moving), and generatingan alert (or locking the vehicle door or precluding opening of thevehicle door) if the system determines that the approaching object mayhit the vehicle door if the door were opened. For example, and withreference to FIG. 10, if the vision system detects the approachingbicyclist at and to the rear and side of the parked or non-movingsubject vehicle, the system may alert the driver and/or passenger of thevehicle to not open the door at that side of the vehicle or maytemporarily lock or limit opening of the vehicle door at that side ofthe vehicle until the detected object passes the door and is no longer apotential threat of impact.

Optionally, the vision system may provide a child presence detectionfeature or function. For example, the system may detect the presence ofa child (such as via processing of image data captured by the frontgrille camera, the side view cameras and/or the rear camera) and maygenerate an alert or warning if a child is determined to be present inproximity of the vehicle, optionally even if the child is not in thepath of travel of the vehicle and optionally even if the vehicle is notmoving. Optionally, such a system may be specific to detection ofchildren (such as by size of the detected person or the like), and notpedestrians in general.

Optionally, the vision system of the present invention may provide otherfeatures, such as, for example, blind spot detection function (to limitor prevent accidents during lane change maneuvers), an onramp assistfunction (to predict whether car can accelerate enough to merge withexisting traffic before the end of the onramp), a low speedCMB/pedestrians function (with a wider field of view to detectpedestrians that are relevant for impact while driving at very lowspeeds (such as around 1-2 m/s or thereabouts or more or less), aprevent running red lights function (such as by generating an alertand/or optionally braking the vehicle), an alert to go when a trafficlight changes to green, an automatic cruise control (ACC) automatic goin a stop and go ACC (such as for city driving conditions/environments),a traffic jam assist function (providing lateral and longitudinalcontrol in traffic jam scenarios (low speed, controlled access road)),an enhanced automatic emergency braking (AEB) function based on reartraffic (optionally, for example, overriding or not braking or delayingbraking if rear traffic is present), a better lane detection function inlow sun or low lighting conditions (with improved availability of laneinformation such as, for example, for LKA, LDW and the like), a fullautonomous driving function including autonomous lane change to overtakeslower cars, construction area driving and lane merges, an autonomouspull-over maneuver function in case of an incapacitated and/orunresponsive driver, an automatic trailer hookup function (which isoperable to guide the vehicle to a trailer), a trailer backup function(which is operable to automatically steer the vehicle based on a driverselected trajectory), an automatic parking (parallel, perpendicular)function with drive in control of longitudinal movement, anautonomous/remote controlled parking (parallel, perpendicular) function,a traffic sign recognition (TSR) extension to height limitation signs, aparking path height detection function, an AEB function during areversing or backup maneuver, a traffic sign recognition (TSR) to setACC speed (so as to provide a speed limiter function or the like), aball detection function, a pedestrian impact detection function toactivate active a pedpro system (such as to use a camera to replace anexisting sensor or in addition to another impact sensor), a roadfriction estimation function (such as for determining if the vehicle istraveling on snow, gravel, ice or the like) to adjust the AEB thresholdsand/or curve speed warning, a pothole depth and speed bump heightestimation function for an active suspension control, a read licenseplate of preceding/following vehicle function (such as, for example, forAmber Alert notifications and the like), a curb detection/warning if acurb is too high to drive onto (such as if the vehicle is being driventowards a curb, so as to limit or prevent damage to the wheels or rimsof the vehicle), an application of 3D information to parking situationsfunction, a perspective correction function for a more accurate birdseye view (more realistic image), an ACC function that limits orprecludes acceleration of the subject vehicle when the subject vehicleis being overtaken by another vehicle, and/or a lighting controlfunction (such as providing an adjust lighting decision based onknowledge or other car overtaking of driving parallel to the subjectvehicle, and/or the like.

Optionally, the vision system of the present invention may be operableto provide various functions. For example, the vision system may operatewith or be associated with an adaptive automatic emergency braking (AEB)system of the vehicle, such that, when the subject vehicle determinesthat braking is desired or appropriate, the subject vehicle may, forexample, brake earlier and/or harder, if no vehicle is following (asdetermined by image processing of the image data captured by therearward facing camera), and risk of rear end collision is low, or maybrake later, if the vision system determines that a vehicle isfollowing, and the risk of rear end collision is higher. Optionally, thevision system may provide improved or enhanced lane detection at lowsun/and increased availability of LDW based on detecting lanes in therear camera images. Optionally, the vision system may provide rearpedestrian detection, and may provide a warning or may brake if apedestrian is detected in the rear images, such as during a reversingmaneuver of the vehicle. Optionally, the vision system may provide arear object detection, and may provide a warning or the like if ageneral object is detected in the rear images. Optionally, the visionsystem may provide a rear cross traffic alert function, and may detector determine crossing vehicles and may be operable to alert or warn thedriver of the subject vehicle of crossing vehicles when the driver isreversing or backing up the subject vehicle.

For example, the vision system may provide pedestrian detection whenbacking up by determining when a pedestrian is present in the rearwardfield of view of the camera. The system may detect standing/walkingadults and children at relevant ranges, with reasonable false alarm rate(such as, for example, 1 false detection per 50 or more backupmaneuvers). The system may utilize pedestrian detection andclassification aspects from a front object detection system applied torear image processing (FIG. 11). The system may use additional crossingcues for moving pedestrians. The system may determine that a detectedobject is a pedestrian and generate an output based on various aspectsof the object, such as a lateral distance to the object, a longitudinaldistance to the object, the object height, the object width, anX-position in the captured image and/or a Y-position in the capturedimage and/or the like. The vision system thus may reduce the risk ofback-over accidents, and, if driver is not looking at the rear cameradisplay (such as indicated by the driver not braking the vehicle whenthe display shows an object or pedestrian rearward of the vehicle duringa reversing maneuver), the system may generate an alert to warn thedriver of a rear pedestrian detection and/or generate automatic brakingto slow or stop the vehicle.

Similarly, the vision system may provide a rear object detectionfunction to detect larger objects rearward of the vehicle (FIG. 12). Thevision system may utilize SFM (structure from motion) and use imagesequences to compute a dense three dimensional map of the road andstationary objects above the road, and the system may use lateral motiondetection for general moving objects. The vision system thus may reducethe risk of back-over accidents, and, if driver is not looking at therear camera display, the system may generate an alert to warn the driverof a rear pedestrian detection and/or generate automatic braking to slowor stop the vehicle.

Optionally, the vision system may provide a rear cross traffic alertfunction and may detect crossing vehicles in or approaching the rearwardpath of the subject vehicle during a reversing maneuver of the subjectvehicle (FIG. 13). The system may utilize vehicle detection (patternbased) and lateral motion detection to identify cross traffic and warnthe driver of the subject vehicle based on such detection andidentification. The algorithm performance of the system may depend onthe quality of the images and vehicles in image. For example, the systemmay detect sideward approaching vehicles from up to about 30 m to eitherside of the subject vehicle. Optionally, and desirably, the system mayoptimize rear camera distortion correction to work with the vehicledetection algorithm to enhance such detection and identification ofapproaching vehicles. The vision system thus limits or substantiallyreduces collisions with crossing traffic rearward of the subject vehicleduring a reversing maneuver of the subject vehicle, and the system maygenerate an alert to warn the driver of the subject vehicle of anapproaching vehicle (and may identify or inform the driver as to whichside of the subject vehicle the detected vehicle is approaching from).

Optionally, the vision system may provide an adaptive automaticemergency braking (AEB) function (FIGS. 14 and 15). For example, the AEBmay be based on the presence of a following vehicle (a vehicle followingthe subject vehicle) when the subject vehicle vision system has detecteda vehicle or object ahead of the subject vehicle that presents acondition or situation that may require braking of the subject vehicleto avoid a collision with the detected object or vehicle. The AEB systemis operable to brake earlier and/or harder if no vehicle is detectedbehind or following the subject vehicle, and the risk of a rear endcollision is thus low, and/or the AEB system is operable to brake laterif a vehicle is detected behind or following the subject vehicle, andrisk of a rear end collision is thus higher. The system may utilizepattern based vehicle detection to detect vehicles (such as vehicles upto about 50 to 60 meters (or more) ahead and/or behind the subjectvehicle) and may determine if a detected following vehicle object is inthe same lane or adjacent lane as the subject vehicle and may determinethe distance that the detected following vehicle is behind the subjectvehicle, and may adapt the braking application accordingly. The visionsystem may provide an earlier warning to the driver of the subjectvehicle and may provide a reduced risk of false brake activation.

Optionally, the vision system may utilize rear image processing for lanedetection (FIG. 16). For example, the system may apply lane detectionand tracking aspects from front image processing to rear images capturedby one or more rearward facing cameras of the vehicle. The system maydetect the lane markings and may determine the lateral distance to aleft or right lane marking, and may control steering and/or provide analert to the driver responsive to the detected distance to the lanemarkings. The system thus provides increased availability of laneinformation to the driver, and may warn the driver even where lanedeparture prevention (LDP) from the front camera may not be available,such as in low lighting conditions or situations, traffic jams (whenpreceding vehicles block lane markings), tunnel entry and/or the like.Optionally, it is envisioned that the rear lane detection of the presentinvention may be used for autonomous driving/lane keeping where highlane data availability is important.

The vision system of the present invention may capture rearward imagesand may display different aspects or portions of the captured images fordifferent information display functions (such as during a reversingmaneuver and the like, where a wide angle rearward image is desired).For example, and with reference to FIGS. 17 and 18, the system mayprovide an uncorrected raw view, a corrected wide view, a normal viewand a top view for different functions or applications. Preferably, thevision system will apply the image processing (for object detection andthe like) to one of the views, such as the corrected wide view, which ispresentable to the driver at the display screen, and provides a wideangle field of view for rear cross traffic detection. While the normalview and the top view are also presentable to the driver, the normalview is not typically wide enough for rear cross traffic detection andthe top view is a special view with limited range.

Optionally, and with reference to FIG. 19, the vision system may beoperable to process image data captured from a front camera and imagedata captured from a rear camera using a common image processor (such asby utilizing aspects of the systems described in U.S. Pat. No.7,855,755, which is hereby incorporated herein by reference in itsentirety). The system may utilize NTSC rear video or may utilize a rearmegapixel camera or the like. By relying on the rear camera to createthree different view modes (wide, normal, top-view), the cross trafficalert will only work when the rear camera is in wide view mode. Becausethe view mode is typically selected by the driver using hardwiredconnections, the system does not control the view mode. The systemrelies on the display to create overlays, so the system preferably canmanage latency problems between detection and overlay presentation. Anadvantage to this type of system is that it may provide the desiredfeatures at a relatively lower cost or reduced cost.

Optionally, and with reference to FIG. 19, the vision system maycomprise a forward facing camera and a rearward facing camera and aseparate common image processor. In the illustrated embodiment, the rearcamera images are transmitted via LVDS (preferably over coaxial cables)to the image processor (such as an EYEQ2 or EYEQ3 image processoravailable from Mobileye Vision Technologies Ltd. of Jerusalem, Israel),and the communication cables may utilize aspects of the systemsdescribed in International Publication No. WO 2013/043661, which ishereby incorporated by reference in its entirety. The image processor isoperable to interpret the image, and also creates the different viewsdesired by vehicle manufacturer, including cropping, distortioncorrection, and overlay generation. The visual image manipulation isimplemented by algorithms or code running on the image processor, andthe image is then sent to the display in a “ready to view” format.

Because the vision system of FIG. 19 adds two video connectors to thefront camera, it may not be ideal for typical forward facing camera orimager package at the windshield. Instead, the vision system of FIG. 19separates the front camera and the image processor and thus provides atwo-box solution, with the image processing board being removed from thecamera and disposed at or in a second box or module or unit that can bepackaged anywhere in the vehicle. The vision system thus may meet thecross traffic requirements, including the hardwired interfaces for whichthere typically is not enough connector space at the windshield, and thesystem may achieve better overall system performance, since there ismore information provided from the rear imager (both by virtue of beinghigher resolution and by providing pixel accurate data), and the systemmay be able to run cross traffic alerts with all of the desired views.

The vision system thus may feed video from a rear imager or rearwardfacing camera and may feed video from a front imager or forward facingcamera into a separate and common image processing unit or module wherethere is separation between image manipulation software for processingimages for display and image data processing for processing image datafor object detection and/or the like. The image processor is thusdecoupled from both imagers and could be disposed anywhere in thevehicle (and optionally could be disposed at or near or in the forwardfacing camera module). The image processor has both front and rearcamera feeds and can process image data from both camerassimultaneously. The system thus utilizes software building blocks thatcan be applied to the front and rear images. The common image processormay be operable to utilize SFM on the front and rear images, and theimage data or processed output may be passed to other algorithms forimage manipulation for presenting the information for viewing by thedriver at the display screen. The system may utilize coaxial cable thatcarries the camera or image signal and power bi-directionally. Suchcables reduce the cost of the transmission/communication and makes theoption of having a separate common image processor more attractive tothe vehicle manufacturer (due to the lower cost cables and connectorssuch that the additional connectors and cables do not significantly addto the cost of the system).

In applications where the system operates as an automatic emergencybraking system, it is important that a certain degree of safeness ofabsence of unjustified braking events is provided. Customers (driven byISO26262) require certain theoretical analysis to guarantee a vehicle is“safe” (in the case of an emergency braking system, such safety isdefined as “lack of unjustified brake events”). It is difficult totheoretically prove that the system (such as the image processor, suchas a Mobileye EYEQ type image processor or the like) doesn't causeunjustified brake events. However, ISO26262 also accepts a “proven inuse” argument that may be used for camera-based emergency braking. Themethod to develop an emergency braking system that utilizes such a“proven in use” feature comprises the following steps:

1. Develop a signal to initiate emergency braking. For example, thissignal could be generated when the determined “time to contact” (TTC) isless than about 0.7 sec and the vehicle speed is less than 80 km/h.

2. During a first time period, the system may monitor all vehicles inwhich the signal occurs. This can be done using a Trip Statistics andAlert Data Download (TSADD) feature. As part of this feature, vehicledata (including, for example, vehicle speed, brake activation, and/orcompressed camera images or the like) may be collected that allows anevaluation as to whether or not the signal was justified. The vehicledata may be collected via any suitable means, such as through atelematics system of the vehicle (such as, for example, ONSTAR®) or thelike.

3. The system evaluates the signals that occurred in a large set ofvehicles and over a prolonged period of time. In other words, the systemuses more than just a handful of test vehicles, and instead may monitor,for example, about 100,000 (or more or less) customer vehicles over thecourse of several months to a year (or more or less) to collect astatistically significant set of signals.

4. If, in step 3, it can be concluded that the signal is clear ofunjustified brake events, the system may use the signal which has nowbeen proven in use to automatically activate brakes when the appropriatecondition is detected.

Thus, the present invention is operable to provide an enhanceddetermination of the safeness of the AEB system by determining and usingsignals and parameters that have been tested in real life situations anddetermined to have resulted in few or no unjustified braking events. Thepresent invention uses “proven in use” signals and parameters to derivean appropriate signal for that vehicle and/or vehicle type and/ordriving conditions and/or the like.

The cameras or sensors may comprise any suitable cameras or sensors.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inPCT Application No. PCT/US2012/066570, filed Nov. 27, 2012, andpublished on Jun. 6, 2013 as International Publication No. WO2013/081984, and/or PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013081985, which are hereby incorporated herein by reference in theirentireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, an array of a plurality of photosensorelements arranged in at least 640 columns and 480 rows (at least a640×480 imaging array, such as a megapixel imaging array or the like),with a respective lens focusing images onto respective portions of thearray. The photosensor array may comprise a plurality of photosensorelements arranged in a photosensor array having rows and columns. Thelogic and control circuit of the imaging sensor may function in anyknown manner, and the image processing and algorithmic processing maycomprise any suitable means for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145501; WO 2012/0145343; WO 2012/154919; WO2013/019707; WO 2013/016409; WO 20102/145822; WO 2013/043661; WO2013/048994, and/or PCT Application No. PCT/US2012/061548, filed Oct.24, 2012, and published on May 2, 2013 as International Publication No.WO 2013/063014, and/or PCT Application No. PCT/US2012/062906, filed Nov.1, 2012, and published May 10, 2013 as International Publication No. WO2013/067083, and/or PCT Application No. PCT/US2012/063520, filed Nov. 5,2012, and published May 16, 2013 as International Publication No. WO2013/070539, and/or PCT Application No. PCT/US2012/064980, filed Nov.14, 2012, and published May 23, 2013 as International Publication No. WO2013/074604, and/or PCT Application No. PCT/US2012/066570, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081984, and/or PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081985, and/or PCT Application No. PCT/US2012/068331, filed Dec. 7,2012, and published Jun. 13, 2013 as International Publication No. WO2013/086249, and/or PCT Application No. PCT/US2012/071219, filed Dec.21, 2012, and published Jul. 11, 2013 as International Publication No.WO 2013/103548, and/or PCT Application No. PCT/US2013/022119, filed Jan.18, 2013, and published Jul. 25, 2013 as International Publication No.WO 2013/109869, and/or PCT Application No. PCT/US2013/026101, filed Feb.14, 2013, and published Aug. 22, 2013 as International Publication No.WO 2013/123161, and/or PCT Application No. PCT/US2013/027342, filed Feb.22, 2013, and published Aug. 9, 2013 as International Publication No. WO2013/126715, and/or PCT Application No. PCT/US2013/036701, filed Apr.16, 2013, and published Oct. 24, 2013 as International Publication No.WO 2013/158592 and/or U.S. patent applications, Ser. No. 13/851,378,filed Mar. 27, 2013, now U.S. Pat. No. 9,319,637; Ser. No. 13/848,796,filed Mar. 22, 2013, and published on Oct. 24, 2013 as U.S. PatentPublication No. US-2013-0278769; Ser. No. 13/847,815, filed Mar. 20,2013, and published on Oct. 31, 2013 as U.S. Patent Publication No.US-2013-0286193; Ser. No. 13/800,697, filed Mar. 13, 2013, and publishedon Oct. 3, 2013 as U.S. Patent Publication No. US-2013-0258077; Ser. No.13/785,099, filed Mar. 5, 2013, now U.S. Pat. No. 9,565,342; Ser. No.13/779,881, filed Feb. 28, 2013, now U.S. Pat. No. 8,694,224; Ser. No.13/774,317, filed Feb. 22, 2013, now U.S. Pat. No. 9,269,263; Ser. No.13/774,315, filed Feb. 22, 2013, and published on Aug. 22, 2013 as U.S.Patent Publication No. US-2013-0215271; Ser. No. 13/681,963, filed Nov.20, 2012, now U.S. Pat. No. 9,264,673; Ser. No. 13/660,306, filed Oct.25, 2012, now U.S. Pat. No. 9,146,898; Ser. No. 13/653,577, filed Oct.17, 2012, now U.S. Pat. No. 9,174,574; and/or Ser. No. 13/534,657, filedJun. 27, 2012, and published on Jan. 3, 2013 as U.S. Patent PublicationNo. US-2013-0002873, and/or U.S. provisional applications, Ser. No.61/813,361, filed Apr. 18, 2013; Ser. No. 61/840,407, filed Apr. 10,2013; Ser. No. 61/808,930, filed Apr. 5, 2013; Ser. No. 61/807,050,filed Apr. 1, 2013; Ser. No. 61/806,674, filed Mar. 29, 2013; Ser. No.61/806,673, filed Mar. 29, 2013; Ser. No. 61/804,786, filed Mar. 25,2013; Ser. No. 61/793,592, filed Mar. 15, 2013; Ser. No. 61/793,614,filed Mar. 15, 2013; Ser. No. 61/793,558, filed Mar. 15, 2013; Ser. No.61/772,015, filed Mar. 4, 2013; Ser. No. 61/772,014, filed Mar. 4, 2013;Ser. No. 61/770,051, filed Feb. 27, 2013; Ser. No. 61/770,048, filedFeb. 27, 2013; Ser. No. 61/766,883, filed Feb. 20, 2013; Ser. No.61/760,366, filed Feb. 4, 2013; Ser. No. 61/760,364, filed Feb. 4, 2013;Ser. No. 61/758,537, filed Jan. 30, 2013; Ser. No. 61/756,832, filedJan. 25, 2013; Ser. No. 61/754,804, filed Jan. 21, 2013; Ser. No.61/745,925, filed Dec. 26, 2012; Ser. No. 61/745,864, filed Dec. 26,2012; Ser. No. 61/736,104, filed Dec. 12, 2012; Ser. No. 61/736,103,filed Dec. 12, 2012; Ser. No. 61/735,314, filed Dec. 10, 2012; Ser. No.61/734,457, filed Dec. 7, 2012; Ser. No. 61/733,598, filed Dec. 5, 2012;Ser. No. 61/733,093, filed Dec. 4, 2012; Ser. No. 61/727,912, filed Nov.19, 2012; Ser. No. 61/727,911, filed Nov. 19, 2012; Ser. No. 61/727,910,filed Nov. 19, 2012; Ser. No. 61/718,382, filed Oct. 25, 2012; Ser. No.61/713,772, filed Oct. 15, 2012; Ser. No. 61/710,924, filed Oct. 8,2012; Ser. No. 61/710,247, filed Oct. 2, 2012; Ser. No. 61/696,416,filed Sep. 4, 2012; Ser. No. 61/682,995, filed Aug. 14, 2012; Ser. No.61/682,486, filed Aug. 13, 2012; Ser. No. 61/680,883, filed Aug. 8,2012; Ser. No. 61/678,375, filed Aug. 1, 2012; Ser. No. 61/676,405,filed Jul. 27, 2012; Ser. No. 61/666,146, filed Jun. 29, 2012; Ser. No.61/653,665, filed May 31, 2012; Ser. No. 61/653,664, filed May 31, 2012;Ser. No. 61/648,744, filed May 18, 2012, which are all herebyincorporated herein by reference in their entireties. The system maycommunicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in InternationalPublication Nos. WO 2013/043661 and/or WO 2010/144900, and/or PCTApplication No. PCT/US2012/066571, filed Nov. 27, 2012, and publishedJun. 6, 2013 as International Publication No. WO 2013081985, and/or U.S.patent application Ser. No. 13/202,005, filed Aug. 17, 2011, now U.S.Pat. No. 9,126,525, which are hereby incorporated herein by reference intheir entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and 6,824,281, and/or International Publication Nos. WO2010/099416 and/or WO 2011/028686, and/or U.S. patent application Ser.No. 12/508,840, filed Jul. 24, 2009, and published Jan. 28, 2010 as U.S.Pat. Publication No. US 2010-0020170, and/or PCT Application No.PCT/US2012/048110, filed Jul. 25, 2012, and published on Jan. 31, 2013as International Publication No. WO 2013/016409, and/or U.S. patentapplication Ser. No. 13/534,657, filed Jun. 27, 2012, and published onJan. 3, 2013 as U.S. Patent Publication No. US-2013-0002873, which areall hereby incorporated herein by reference in their entireties. Thecamera or cameras may comprise any suitable cameras or imaging sensorsor camera modules, and may utilize aspects of the cameras or sensorsdescribed in U.S. patent applications, Ser. No. 12/091,359, filed Apr.24, 2008 and published Oct. 1, 2009 as U.S. Publication No.US-2009-0244361; and/or Ser. No. 13/260,400, filed Sep. 26, 2011, nowU.S. Pat. No. 8,542,451, and/or U.S. Pat. Nos. 7,965,336 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties. The imaging array sensor may comprise any suitable sensor,and may utilize various imaging sensors or imaging array sensors orcameras or the like, such as a CMOS imaging array sensor, a CCD sensoror other sensors or the like, such as the types described in U.S. Pat.Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093; 5,877,897; 6,922,292;6,757,109; 6,717,610; 6,590,719; 6,201,642; 6,498,620; 5,796,094;6,097,023; 6,320,176; 6,559,435; 6,831,261; 6,806,452; 6,396,397;6,822,563; 6,946,978; 7,339,149; 7,038,577; 7,004,606; 7,720,580 and/or7,965,336, and/or International Publication Nos. WO 2009/036176 and/orWO 2009/046268, which are all hereby incorporated herein by reference intheir entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. patent application Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. patent application Ser. No. 10/538,724, filedJun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. Nos. 7,255,451 and/or7,480,149; and/or U.S. patent applications, Ser. No. 11/226,628, filedSep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct. 14, 2009, nowU.S. Pat. No. 9,487,144, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. patent application Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in InternationalPublication No. WO 2012/051500, which is hereby incorporated herein byreference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed International Publication Nos. WO 2010/099416; WO 2011/028686;WO 2012/075250; WO 2013/019795; WO 2012-075250; WO 2012/154919; WO2012/0116043; WO 2012/0145501 and/or WO 2012/0145313, and/or PCTApplication No. PCT/CA2012/000378, filed Apr. 25, 2012, and publishedNov. 1, 2012 as International Publication No. WO 2012/145822, and/or PCTApplication No. PCT/US2012/066571, filed Nov. 27, 2012, and publishedJun. 6, 2013 as International Publication No. WO 2013081985, and/or PCTApplication No. PCT/US2012/068331, filed Dec. 7, 2012, and publishedJun. 13, 2013 as International Publication No. WO 2013/086249, and/orPCT Application No. PCT/US2013/022119, filed Jan. 18, 2013, andpublished Jul. 25, 2013 as International Publication No. WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. patent applications, Ser. No. 12/091,525,filed Apr. 25, 2008, now U.S. Pat. No. 7,855,755; Ser. No. 11/226,628,filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008; and/or Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare all hereby incorporated herein by reference in their entireties. Thedisplay is viewable through the reflective element when the display isactivated to display information. The display element may be any type ofdisplay element, such as a vacuum fluorescent (VF) display element, alight emitting diode (LED) display element, such as an organic lightemitting diode (OLED) or an inorganic light emitting diode, anelectroluminescent (EL) display element, a liquid crystal display (LCD)element, a video screen display element or backlit thin film transistor(TFT) display element or the like, and may be operable to displayvarious information (as discrete characters, icons or the like, or in amulti-pixel manner) to the driver of the vehicle, such as passenger sideinflatable restraint (PSIR) information, tire pressure status, and/orthe like. The mirror assembly and/or display may utilize aspectsdescribed in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or7,338,177, which are all hereby incorporated herein by reference intheir entireties. The thicknesses and materials of the coatings on thesubstrates of the reflective element may be selected to provide adesired color or tint to the mirror reflective element, such as a bluecolored reflector, such as is known in the art and such as described inU.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are herebyincorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

The invention claimed is:
 1. A vehicular vision system, the vehicularvision system comprising: a forward-viewing camera disposed at awindshield of a vehicle equipped with the vehicular vision system and atleast viewing forward through the windshield of the equipped vehicle;the forward-viewing camera comprising an imaging sensor; wherein theimaging sensor of the forward-viewing camera comprises a megapixel arrayhaving at least one million photosensors arranged in multiple columnsand multiple rows; wherein the forward-viewing camera is operable tocapture image data; wherein the forward-viewing camera comprises a firstserializer operable to serialize image data captured by theforward-viewing camera; an electronic control unit (ECU); wherein theECU comprises (i) a first de-serializer, (ii) an electrical power sourceand (iii) an image processor; wherein the forward-viewing cameraconnects with the ECU via a first coaxial cable; wherein communicationbetween the forward-viewing camera and the ECU via the first coaxialcable is bidirectional; wherein image data captured by the imagingsensor of the forward-viewing camera is converted at the firstserializer to first serialized image data that is carried to the ECU viathe first coaxial cable; wherein first serialized image data carried tothe ECU by the first coaxial cable is de-serialized at the firstde-serializer of the ECU to form first de-serialized image data; andwherein, responsive at least in part to processing at the ECU of firstde-serialized image data, the vehicular vision system is operable todetect a vehicle viewed by the forward-viewing camera, and wherein,responsive at least in part to determination by the vehicular visionsystem that the equipped vehicle and the detected vehicle may collide,the vehicular vision system, at least in part, controls a braking systemof the equipped vehicle.
 2. The vehicular vision system of claim 1,wherein, at least in part responsive to processing at the ECU of firstde-serialized image data, the vehicular vision system determinespresence of an object viewed by the forward-viewing camera.
 3. Thevehicular vision system of claim 2, wherein, at least in part responsiveto processing at the ECU of first de-serialized image data, thevehicular vision system determines that the detected object comprises apedestrian.
 4. The vehicular vision system of claim 3, wherein, at leastin part responsive to processing at the ECU of first de-serialized imagedata, the vehicular vision system distinguishes a pedestrian who is achild from a pedestrian who is an adult.
 5. The vehicular vision systemof claim 1, wherein the vehicular vision system processes sequentialframes of captured image data to generate a three-dimensional map alonga road on which the equipped vehicle is traveling.
 6. The vehicularvision system of claim 1, wherein the vehicular vision system at leastin part controls a cross traffic alert function of the equipped vehicle.7. The vehicular vision system of claim 1, wherein electrical power forthe forward-viewing camera is carried from the ECU to theforward-viewing camera via the first coaxial cable.
 8. The vehicularvision system of claim 1, wherein the ECU connects with a vehiclecommunication bus of the equipped vehicle.
 9. The vehicular visionsystem of claim 8, wherein the vehicle communication bus of the equippedvehicle comprises a CAN bus.
 10. The vehicular vision system of claim 9,wherein the vehicular vision system is associated with an emergencybraking system of the vehicle.
 11. The vehicular vision system of claim1, wherein the vehicular vision system controls braking of the vehiclebased at least in part on an environment in which the equipped vehicleis driven.
 12. The vehicular vision system of claim 11, wherein theenvironment comprises an urban driving environment.
 13. The vehicularvision system of claim 12, wherein the urban driving environmentcomprises presence of pedestrian traffic ahead of the equipped vehicle.14. The vehicular vision system of claim 12, wherein the urban drivingenvironment comprises presence of vehicle traffic ahead of the equippedvehicle.
 15. The vehicular vision system of claim 1, wherein videoimages derived at least in part from an output generated at the ECU aredisplayed at a video display device of the equipped vehicle, the videodisplay device comprising a video display screen viewable by a driver ofthe equipped vehicle.
 16. The vehicular vision system of claim 15,wherein the output is at least in part generated via processing at theECU of first de-serialized image data.
 17. The vehicular vision systemof claim 16, wherein the output is carried from the ECU for display atthe video display device via a second coaxial cable.
 18. The vehicularvision system of claim 1, further comprising a rearward-viewing cameradisposed at an exterior portion of the equipped vehicle, and wherein,with the rearward-viewing camera disposed at the exterior portion of theequipped vehicle, the rearward-viewing camera at least views rearward ofthe equipped vehicle, and wherein the rearward-viewing camera comprisesan imaging sensor comprising an array of at least one millionphotosensor elements arranged in multiple columns and multiple rows, andwherein the rearward-viewing camera is operable to capture image data,and wherein the rearward-viewing camera comprises a second serializeroperable to serialize image data captured by the rearward-viewingcamera, and wherein the ECU comprises a second de-serializer, andwherein the rearward-viewing camera connects with the ECU via a secondcoaxial cable, and wherein image data captured by the imaging sensor ofthe rearward-viewing camera is converted at the second serializer tosecond serialized image data that is carried to the ECU via the secondcoaxial cable, and wherein second serialized image data carried to theECU via the second coaxial cable is de-serialized at the secondde-serializer of the ECU to form second de-serialized image data. 19.The vehicular vision system of claim 18, wherein video images derived atleast in part from an output generated at the ECU are displayed at avideo display device of the equipped vehicle, the video display devicecomprising a video display screen viewable by a driver of the equippedvehicle, and wherein the output is at least in part generated viaprocessing at the ECU of second de-serialized image data.
 20. Thevehicular vision system of claim 18, wherein, at least in partresponsive to processing at the ECU of second de-serialized image data,the vehicular vision system is operable to detect an object approachingthe equipped vehicle from rearward of the equipped vehicle.
 21. Thevehicular vision system of claim 20, wherein, responsive at least inpart to determination by the vehicular vision system that the rearwardapproaching object may impact a vehicle door of the equipped vehicle ifit is opened, the vehicular vision system limits opening of the vehicledoor.
 22. The vehicular vision system of claim 21, wherein the rearwardapproaching object comprises a bicyclist.
 23. The vehicular visionsystem of claim 19, wherein the output is carried from the ECU fordisplay at the video display device via a third coaxial cable.
 24. Thevehicular vision system of claim 1, wherein the image processorcomprises an image processing chip.
 25. A vehicular vision system, thevehicular vision system comprising: a rearward-viewing camera disposedat an exterior portion of a vehicle equipped with the vehicular visionsystem and at least viewing rearward of the equipped vehicle; therearward-viewing camera comprising an imaging sensor; wherein theimaging sensor of the rearward-viewing camera comprises a megapixelarray having at least one million photosensors arranged in multiplecolumns and multiple rows; wherein the rearward-viewing camera isoperable to capture image data; wherein the rearward-viewing cameracomprises a serializer operable to serialize image data captured by therearward-viewing camera; an electronic control unit (ECU); wherein theECU comprises (i) a de-serializer, (ii) an electrical power source and(iii) an image processor; wherein the rearward-viewing camera connectswith the ECU via a first coaxial cable; wherein communication betweenthe rearward-viewing camera and the ECU via the first coaxial cable isbidirectional; wherein image data captured by the imaging sensor of therearward-viewing camera is converted at the serializer to serializedimage data that is carried to the ECU via the first coaxial cable;wherein serialized image data carried to the ECU via the first coaxialcable is de-serialized at the de-serializer of the ECU to formde-serialized image data; and wherein, responsive at least in part toprocessing at the ECU of de-serialized image data, the vehicular visionsystem is operable to detect an object exterior of the equipped vehicle,and wherein, responsive at least in part to determination by thevehicular vision system that the equipped vehicle and the detectedobject may collide, the vehicular vision system at least in partcontrols a braking system of the equipped vehicle.
 26. The vehicularvision system of claim 25, wherein, at least in part responsive toprocessing at the ECU of de-serialized image data, the vehicular visionsystem determines that the detected object comprises a pedestrian. 27.The vehicular vision system of claim 26, wherein, at least in partresponsive to processing at the ECU of de-serialized image data, thevehicular vision system distinguishes a pedestrian who is a child from apedestrian who is an adult.
 28. The vehicular vision system of claim 25,wherein the vehicular vision system at least in part controls a crosstraffic alert function of the equipped vehicle.
 29. The vehicular visionsystem of claim 25, wherein electrical power for the rearward-viewingcamera is carried from the ECU to the rearward-viewing camera via thefirst coaxial cable.
 30. The vehicular vision system of claim 25,wherein the ECU connects with a vehicle communication bus of theequipped vehicle.
 31. The vehicular vision system of claim 30, whereinthe vehicle communication bus of the equipped vehicle comprises a CANbus.
 32. The vehicular vision system of claim 31, wherein therearward-viewing camera comprises a rear backup camera of the equippedvehicle.
 33. The vehicular vision system of claim 25, wherein thevehicular vision system controls braking of the vehicle based at leastin part on an environment in which the equipped vehicle is driven. 34.The vehicular vision system of claim 33, wherein the environmentcomprises presence of pedestrian traffic rearward of the equippedvehicle.
 35. The vehicular vision system of claim 33, wherein theenvironment comprises presence of vehicles rearward of the equippedvehicle.
 36. The vehicular vision system of claim 25, wherein an outputof the ECU is provided to a video display device of the equippedvehicle, the video display device comprising a video display screenviewable by a driver of the equipped vehicle.
 37. The vehicular visionsystem of claim 36, wherein the output of the ECU is provided to thevideo display device via a second coaxial cable.
 38. The vehicularvision system of claim 37, wherein the rearward-viewing camera comprisesa rear backup camera of the equipped vehicle, and wherein the imageprocessor comprises an image processing chip.
 39. The vehicular visionsystem of claim 25, wherein responsive at least in part to determinationby the vehicular vision system that a rearward approaching object mayimpact a vehicle door of the equipped vehicle if it is opened, thevehicular vision system limits opening of the vehicle door.
 40. Thevehicular vision system of claim 39, wherein the rearward approachingobject comprises a bicyclist.
 41. The vehicular vision system of claim25, wherein the image processor comprises an image processing chip. 42.The vehicular vision system of claim 25, wherein video images derived atleast in part from an output generated at the ECU are displayed at avideo display device of the equipped vehicle, the video display devicecomprising a video display screen viewable by a driver of the equippedvehicle.
 43. The vehicular vision system of claim 42, wherein the outputis at least in part generated via processing at the ECU of de-serializedimage data.
 44. The vehicular vision system of claim 43, wherein therearward-viewing camera comprises a rear backup camera of the equippedvehicle.
 45. The vehicular vision system of claim 44, wherein the outputis carried from the ECU for display at the video display device via asecond coaxial cable.
 46. The vehicular vision system of claim 45,wherein the image processor comprises an image processing chip.
 47. Thevehicular vision system of claim 44, wherein, during a reversingmaneuver of the equipped vehicle and at least in part responsive toprocessing at the ECU of de-serialized image data, the driver of theequipped vehicle is alerted to the presence of a pedestrian viewed bythe rear backup camera.
 48. A vehicular vision system, the vehicularvision system comprising: a forward-viewing camera disposed at awindshield of a vehicle equipped with the vehicular vision system and atleast viewing forward through the windshield of the equipped vehicle;the forward-viewing camera comprising an imaging sensor; wherein theimaging sensor of the forward-viewing camera comprises a megapixel arrayhaving at least one million photosensors arranged in multiple columnsand multiple rows; wherein the forward-viewing camera is operable tocapture image data; wherein the forward-viewing camera comprises a firstserializer operable to serialize image data captured by theforward-viewing camera; a rearward-viewing camera disposed at anexterior portion of a vehicle equipped with the vehicular vision systemand at least viewing rearward of the equipped vehicle; therearward-viewing camera comprising an imaging sensor; wherein theimaging sensor of the rearward-viewing camera comprises a megapixelarray having at least one million photosensors arranged in multiplecolumns and multiple rows; wherein the rearward-viewing camera isoperable to capture image data; wherein the rearward-viewing cameracomprises a second serializer operable to serialize image data capturedby the rearward-viewing camera; an electronic control unit (ECU);wherein the ECU comprises (i) a first de-serializer, (ii) a secondde-serializer, (iii) an electrical power source and (iv) an imageprocessor; wherein the forward-viewing camera connects with the ECU viaa first coaxial cable; wherein communication between the forward-viewingcamera and the ECU via the first coaxial cable is bidirectional; whereinimage data captured by the imaging sensor of the forward-viewing camerais converted at the first serializer to first serialized image data thatis carried to the ECU via the first coaxial cable; wherein firstserialized image data carried to the ECU by the first coaxial cable isde-serialized at the first de-serializer of the ECU to form firstde-serialized image data; wherein the rearward-viewing camera connectswith the ECU via a second coaxial cable; wherein communication betweenthe rearward-viewing camera and the ECU via the second coaxial cable isbidirectional; wherein image data captured by the imaging sensor of therearward-viewing camera is converted at the second serializer to secondserialized image data that is carried to the ECU via the second coaxialcable; wherein second serialized image data carried to the ECU via thesecond coaxial cable is de-serialized at the second de-serializer of theECU to form second de-serialized image data; wherein, responsive atleast in part to processing at the ECU of first de-serialized imagedata, the vehicular vision system is operable to detect a vehicle viewedby the forward-viewing camera; and wherein, responsive at least in partto processing at the ECU of second de-serialized image data, thevehicular vision system is operable to detect a pedestrian viewed by therearward-viewing camera.
 49. The vehicular vision system of claim 48,wherein, responsive at least in part to processing at the ECU of firstde-serialized image data, the vehicular vision system at least in partcontrols a forward cross traffic alert function of the equipped vehicle.50. The vehicular vision system of claim 48, wherein, responsive atleast in part to processing at the ECU of second de-serialized imagedata, the vehicular vision system at least in part controls a rearwardcross traffic alert function of the equipped vehicle.
 51. The vehicularvision system of claim 48, wherein electrical power for theforward-viewing camera is carried from the ECU to the forward-viewingcamera via the first coaxial cable, and wherein electrical power for therearward-viewing camera is carried from the ECU to the rearward-viewingcamera via the second coaxial cable.
 52. The vehicular vision system ofclaim 51, wherein the ECU connects with a vehicle communication bus ofthe equipped vehicle.
 53. The vehicular vision system of claim 52,wherein the vehicle communication bus of the equipped vehicle comprisesa CAN bus.
 54. The vehicular vision system of claim 48, wherein,responsive at least in part to determination by the vehicular visionsystem that the equipped vehicle and the vehicle viewed by theforward-viewing camera may collide, the vehicular vision system, atleast in part, controls a braking system of the equipped vehicle. 55.The vehicular vision system of claim 54, wherein the vehicular visionsystem is associated with an emergency braking system of the vehicle.56. The vehicular vision system of claim 54, wherein the vehicularvision system controls braking of the vehicle based at least in part onan environment in which the equipped vehicle is driven.
 57. Thevehicular vision system of claim 56, wherein the environment comprisesan urban driving environment.
 58. The vehicular vision system of claim57, wherein the urban driving environment comprises presence ofpedestrian traffic ahead of the equipped vehicle.
 59. The vehicularvision system of claim 57, wherein the urban driving environmentcomprises presence of vehicle traffic ahead of the equipped vehicle. 60.The vehicular vision system of claim 48, wherein video images derived atleast in part from an output generated at the ECU are displayed at avideo display device of the equipped vehicle, the video display devicecomprising a video display screen viewable by a driver of the equippedvehicle.
 61. The vehicular vision system of claim 60, wherein the outputis at least in part generated via processing at the ECU of secondde-serialized image data.
 62. The vehicular vision system of claim 61,wherein the rearward-viewing camera comprises a rear backup camera ofthe equipped vehicle.
 63. The vehicular vision system of claim 62,wherein the output is carried from the ECU for display at the videodisplay device via a third coaxial cable.
 64. The vehicular visionsystem of claim 63, wherein the image processor comprises an imageprocessing chip.
 65. The vehicular vision system of claim 62, wherein,during a reversing maneuver of the equipped vehicle and at least in partresponsive to processing at the ECU of second de-serialized image data,the driver of the equipped vehicle is alerted to the presence of thepedestrian viewed by the rear backup camera.
 66. The vehicular visionsystem of claim 65, wherein, during a reversing maneuver of the equippedvehicle and at least in part responsive to processing at the ECU ofsecond de-serialized image data, the equipped vehicle slows.
 67. Thevehicular vision system of claim 65, wherein, during a reversingmaneuver of the equipped vehicle and at least in part responsive toprocessing at the ECU of second de-serialized image data, the equippedvehicle brakes.